Title :
Tweezers manipulation using high-speed visual servoing based on contact analysis
Author :
Senoo, Taku ; Yoneyama, Daiki ; Namiki, Akio ; Ishikawa, Masatoshi
Author_Institution :
Dept. of Creative Inf., Univ. of Tokyo, Tokyo, Japan
Abstract :
In this paper, the task of tweezers manipulation is considered with the goal of achieving dexterous manipulation of a human tool. First we analyze the contact state between fingers and tweezers in order to design preferable fingers for tool manipulation. Next the control method based on high-speed visual servoing is presented. Experimental results are shown in which a high-speed hand grasps a tiny grain with tweezers in 2-D and 3-D situations.
Keywords :
dexterous manipulators; grippers; visual servoing; contact analysis; contact state; dexterous manipulation; fingers; high-speed hand grasping; high-speed visual servoing; human tool; preferable finger design; tiny grain; tool manipulation; tweezer manipulation; Actuators; Force; Friction; Grasping; Joints; Robots; Skin;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181574
